/*
 * Copyright 2018-2019 Autoware Foundation. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
/**
 * @file
 * Modified function input and used only some functions
 **/
#include "TrajectoryCosts.h"
#include "float.h"
#include "PlanningHelpers.h"

TrajectoryCosts::TrajectoryCosts()
{
    m_PrevCostIndex = -1;
    m_WeightPriority = 0.125;
    m_WeightTransition = 0.13;
    m_WeightLong = 1.0;
    m_WeightLat = 1.0;
    m_WeightLaneChange = 1.0;
    m_LateralSkipDistance = 10;
}

TrajectoryCosts::~TrajectoryCosts()
{
}

OP_TrajectoryCost TrajectoryCosts::DoOneStep(const std::vector<std::vector<std::vector<WayPoint>>> &rollOuts,
                                          const std::vector<std::vector<WayPoint>> &totalPaths, const WayPoint &currState, const int &currIndex,
                                          const int &currLaneIndex,
                                          const PlanningParams &params, const CAR_BASIC_INFO &carInfo, const VehicleState &vehicleState,
                                          const std::vector<DetectedObject> &obj_list)
{
    OP_TrajectoryCost bestTrajectory;
    bestTrajectory.bBlocked = true;
    bestTrajectory.closest_obj_distance = params.horizonDistance;
    bestTrajectory.closest_obj_velocity = 0;
    bestTrajectory.index = -1;

    if (!ValidateRollOutsInput(rollOuts) || rollOuts.size() != totalPaths.size())
        return bestTrajectory;

    if (m_PrevCostIndex == -1)
        m_PrevCostIndex = params.rollOutNumber / 2;

    m_TrajectoryCosts.clear();

    for (unsigned int il = 0; il < rollOuts.size(); il++)
    {
        if (rollOuts.at(il).size() > 0 && rollOuts.at(il).at(0).size() > 0)
        {
            std::vector<OP_TrajectoryCost> costs = CalculatePriorityAndLaneChangeCosts(rollOuts.at(il), il, params);
            m_TrajectoryCosts.insert(m_TrajectoryCosts.end(), costs.begin(), costs.end());
        }
    }

    CalculateTransitionCosts(m_TrajectoryCosts, currIndex, params);

    WayPoint p;
    m_AllContourPoints.clear();
    for (unsigned int io = 0; io < obj_list.size(); io++)
    {
        for (unsigned int icon = 0; icon < obj_list.at(io).contour.size(); icon++)
        {
            p.pos = obj_list.at(io).contour.at(icon);
            p.v = obj_list.at(io).center.v;
            p.id = io;
            p.cost = sqrt(obj_list.at(io).w * obj_list.at(io).w + obj_list.at(io).l * obj_list.at(io).l);
            m_AllContourPoints.push_back(p);
        }
    }

    CalculateLateralAndLongitudinalCosts(m_TrajectoryCosts, rollOuts, totalPaths, currState, m_AllContourPoints, params, carInfo, vehicleState);

    NormalizeCosts(m_TrajectoryCosts);

    int smallestIndex = -1;
    double smallestCost = DBL_MAX;
    double smallestDistance = DBL_MAX;
    double velo_of_next = 0;

    // cout << "Trajectory Costs Log : CurrIndex: " << currIndex << " --------------------- " << endl;
    for (unsigned int ic = 0; ic < m_TrajectoryCosts.size(); ic++)
    {
        // cout << m_TrajectoryCosts.at(ic).ToString();
        if (!m_TrajectoryCosts.at(ic).bBlocked && m_TrajectoryCosts.at(ic).cost < smallestCost)
        {
            smallestCost = m_TrajectoryCosts.at(ic).cost;
            smallestIndex = ic;
        }

        if (m_TrajectoryCosts.at(ic).closest_obj_distance < smallestDistance)
        {
            smallestDistance = m_TrajectoryCosts.at(ic).closest_obj_distance;
            velo_of_next = m_TrajectoryCosts.at(ic).closest_obj_velocity;
        }
    }

    // cout << "Smallest Distance: " <<  smallestDistance << "------------------------------------------------------------- " << endl;

    // All is blocked !
    if (smallestIndex == -1 && m_PrevCostIndex < (int)m_TrajectoryCosts.size())
    {
        bestTrajectory.bBlocked = true;
        bestTrajectory.lane_index = currLaneIndex;
        bestTrajectory.index = currIndex;
        bestTrajectory.closest_obj_distance = smallestDistance;
        bestTrajectory.closest_obj_velocity = velo_of_next;
        // bestTrajectory.index = smallestIndex;
    }
    else if (smallestIndex >= 0)
    {
        bestTrajectory = m_TrajectoryCosts.at(smallestIndex);
        // bestTrajectory.index = smallestIndex;
    }

    //  cout << "smallestI: " <<  smallestIndex << ", C_Size: " << m_TrajectoryCosts.size()
    //      << ", LaneI: " << bestTrajectory.lane_index << "TrajI: " << bestTrajectory.index
    //      << ", prevSmalI: " << m_PrevCostIndex << ", distance: " << bestTrajectory.closest_obj_distance
    //      << ", Blocked: " << bestTrajectory.bBlocked
    //      << endl;

    m_PrevCostIndex = smallestIndex;

    return bestTrajectory;
}

void TrajectoryCosts::CalculateLateralAndLongitudinalCosts(std::vector<OP_TrajectoryCost> &trajectoryCosts,
                                                           const std::vector<std::vector<std::vector<WayPoint>>> &rollOuts, const std::vector<std::vector<WayPoint>> &totalPaths,
                                                           const WayPoint &currState, const std::vector<WayPoint> &contourPoints, const PlanningParams &params,
                                                           const CAR_BASIC_INFO &carInfo, const VehicleState &vehicleState)
{
    double critical_lateral_distance = carInfo.width / 2.0 + params.horizontalSafetyDistancel;
    double critical_long_front_distance = carInfo.wheel_base / 2.0 + carInfo.length / 2.0 + params.verticalSafetyDistance;
    double critical_long_back_distance = carInfo.length / 2.0 + params.verticalSafetyDistance - carInfo.wheel_base / 2.0;
    int iCostIndex = 0;

    Mat3 invRotationMat(currState.pos.a - M_PI_2);
    Mat3 invTranslationMat(currState.pos.x, currState.pos.y);

    double corner_slide_distance = critical_lateral_distance / 2.0;
    double ratio_to_angle = corner_slide_distance / carInfo.max_steer_angle;
    double slide_distance = vehicleState.steer * ratio_to_angle;

    GpsPoint bottom_left(-critical_lateral_distance, -critical_long_back_distance, currState.pos.z, 0);
    GpsPoint bottom_right(critical_lateral_distance, -critical_long_back_distance, currState.pos.z, 0);

    GpsPoint top_right_car(critical_lateral_distance, carInfo.wheel_base / 3.0 + carInfo.length / 3.0, currState.pos.z, 0);
    GpsPoint top_left_car(-critical_lateral_distance, carInfo.wheel_base / 3.0 + carInfo.length / 3.0, currState.pos.z, 0);

    GpsPoint top_right(critical_lateral_distance - slide_distance, critical_long_front_distance, currState.pos.z, 0);
    GpsPoint top_left(-critical_lateral_distance - slide_distance, critical_long_front_distance, currState.pos.z, 0);

    bottom_left = invRotationMat * bottom_left;
    bottom_left = invTranslationMat * bottom_left;

    top_right = invRotationMat * top_right;
    top_right = invTranslationMat * top_right;

    bottom_right = invRotationMat * bottom_right;
    bottom_right = invTranslationMat * bottom_right;

    top_left = invRotationMat * top_left;
    top_left = invTranslationMat * top_left;

    top_right_car = invRotationMat * top_right_car;
    top_right_car = invTranslationMat * top_right_car;

    top_left_car = invRotationMat * top_left_car;
    top_left_car = invTranslationMat * top_left_car;

    m_SafetyBorder.points.clear();
    m_SafetyBorder.points.push_back(bottom_left);
    m_SafetyBorder.points.push_back(bottom_right);
    m_SafetyBorder.points.push_back(top_right_car);
    m_SafetyBorder.points.push_back(top_right);
    m_SafetyBorder.points.push_back(top_left);
    m_SafetyBorder.points.push_back(top_left_car);

    for (unsigned int il = 0; il < rollOuts.size(); il++)
    {
        if (rollOuts.at(il).size() > 0 && rollOuts.at(il).at(0).size() > 0)
        {
            RelativeInfo car_info;
            PlanningHelpers::GetRelativeInfo(totalPaths.at(il), currState, car_info);

            for (unsigned int it = 0; it < rollOuts.at(il).size(); it++)
            {
                int skip_id = -1;
                for (unsigned int icon = 0; icon < contourPoints.size(); icon++)
                {
                    if (skip_id == contourPoints.at(icon).id)
                        continue;

                    RelativeInfo obj_info;
                    PlanningHelpers::GetRelativeInfo(totalPaths.at(il), contourPoints.at(icon), obj_info);
                    double longitudinalDist = PlanningHelpers::GetExactDistanceOnTrajectory(totalPaths.at(il), car_info, obj_info);
                    if (obj_info.iFront == 0 && longitudinalDist > 0)
                        longitudinalDist = -longitudinalDist;

                    double direct_distance = hypot(obj_info.perp_point.pos.y - contourPoints.at(icon).pos.y, obj_info.perp_point.pos.x - contourPoints.at(icon).pos.x);
                    if (contourPoints.at(icon).v < params.minSpeed && direct_distance > (m_LateralSkipDistance + contourPoints.at(icon).cost))
                    {
                        skip_id = contourPoints.at(icon).id;
                        continue;
                    }

                    double close_in_percentage = 1;
                    //          close_in_percentage = ((longitudinalDist- critical_long_front_distance)/params.rollInMargin)*4.0;
                    //
                    //          if(close_in_percentage <= 0 || close_in_percentage > 1) close_in_percentage = 1;

                    double distance_from_center = trajectoryCosts.at(iCostIndex).distance_from_center;

                    if (close_in_percentage < 1)
                        distance_from_center = distance_from_center - distance_from_center * (1.0 - close_in_percentage);

                    double lateralDist = fabs(obj_info.perp_distance - distance_from_center);

                    if (longitudinalDist < -carInfo.length || longitudinalDist > params.minFollowingDistance || lateralDist > m_LateralSkipDistance)
                    {
                        continue;
                    }

                    longitudinalDist = longitudinalDist - critical_long_front_distance;

                    if (m_SafetyBorder.PointInsidePolygon(m_SafetyBorder, contourPoints.at(icon).pos) == true)
                        trajectoryCosts.at(iCostIndex).bBlocked = true;

                    if (lateralDist <= critical_lateral_distance && longitudinalDist >= -carInfo.length / 1.5 && longitudinalDist < params.minFollowingDistance)
                        trajectoryCosts.at(iCostIndex).bBlocked = true;

                    if (lateralDist != 0)
                        trajectoryCosts.at(iCostIndex).lateral_cost += 1.0 / lateralDist;

                    if (longitudinalDist != 0)
                        trajectoryCosts.at(iCostIndex).longitudinal_cost += 1.0 / fabs(longitudinalDist);

                    if (longitudinalDist >= -critical_long_front_distance && longitudinalDist < trajectoryCosts.at(iCostIndex).closest_obj_distance)
                    {
                        trajectoryCosts.at(iCostIndex).closest_obj_distance = longitudinalDist;
                        trajectoryCosts.at(iCostIndex).closest_obj_velocity = contourPoints.at(icon).v;
                    }
                }

                iCostIndex++;
            }
        }
    }
}

void TrajectoryCosts::NormalizeCosts(std::vector<OP_TrajectoryCost> &trajectoryCosts)
{
    // Normalize costs
    double totalPriorities = 0;
    double totalChange = 0;
    double totalLateralCosts = 0;
    double totalLongitudinalCosts = 0;
    double transitionCosts = 0;

    for (unsigned int ic = 0; ic < trajectoryCosts.size(); ic++)
    {
        totalPriorities += trajectoryCosts.at(ic).priority_cost;
        transitionCosts += trajectoryCosts.at(ic).transition_cost;
    }

    for (unsigned int ic = 0; ic < trajectoryCosts.size(); ic++)
    {
        totalChange += trajectoryCosts.at(ic).lane_change_cost;
        totalLateralCosts += trajectoryCosts.at(ic).lateral_cost;
        totalLongitudinalCosts += trajectoryCosts.at(ic).longitudinal_cost;
    }

    //  cout << "------ Normalizing Step " << endl;
    for (unsigned int ic = 0; ic < trajectoryCosts.size(); ic++)
    {
        if (totalPriorities != 0)
            trajectoryCosts.at(ic).priority_cost = trajectoryCosts.at(ic).priority_cost / totalPriorities;
        else
            trajectoryCosts.at(ic).priority_cost = 0;

        if (transitionCosts != 0)
            trajectoryCosts.at(ic).transition_cost = trajectoryCosts.at(ic).transition_cost / transitionCosts;
        else
            trajectoryCosts.at(ic).transition_cost = 0;

        if (totalChange != 0)
            trajectoryCosts.at(ic).lane_change_cost = trajectoryCosts.at(ic).lane_change_cost / totalChange;
        else
            trajectoryCosts.at(ic).lane_change_cost = 0;

        if (totalLateralCosts != 0)
            trajectoryCosts.at(ic).lateral_cost = trajectoryCosts.at(ic).lateral_cost / totalLateralCosts;
        else
            trajectoryCosts.at(ic).lateral_cost = 0;

        if (totalLongitudinalCosts != 0)
            trajectoryCosts.at(ic).longitudinal_cost = trajectoryCosts.at(ic).longitudinal_cost / totalLongitudinalCosts;
        else
            trajectoryCosts.at(ic).longitudinal_cost = 0;

        trajectoryCosts.at(ic).priority_cost = m_WeightPriority * trajectoryCosts.at(ic).priority_cost;
        trajectoryCosts.at(ic).transition_cost = m_WeightTransition * trajectoryCosts.at(ic).transition_cost;
        trajectoryCosts.at(ic).lane_change_cost = m_WeightLaneChange * trajectoryCosts.at(ic).lane_change_cost;
        trajectoryCosts.at(ic).lateral_cost = m_WeightLat * trajectoryCosts.at(ic).lateral_cost;
        trajectoryCosts.at(ic).longitudinal_cost = m_WeightLong * trajectoryCosts.at(ic).longitudinal_cost;

        trajectoryCosts.at(ic).cost = m_WeightPriority * trajectoryCosts.at(ic).priority_cost / 5.0 +
                                      m_WeightLaneChange * trajectoryCosts.at(ic).lane_change_cost / 5.0 +
                                      m_WeightLat * trajectoryCosts.at(ic).lateral_cost / 5.0 +
                                      m_WeightLong * trajectoryCosts.at(ic).longitudinal_cost / 5.0 +
                                      m_WeightTransition * trajectoryCosts.at(ic).transition_cost / 5.0;

        //    cout << "Index: " << ic
        //            << ", Priority: " << trajectoryCosts.at(ic).priority_cost
        //            << ", Transition: " << trajectoryCosts.at(ic).transition_cost
        //            << ", Lat: " << trajectoryCosts.at(ic).lateral_cost
        //            << ", Long: " << trajectoryCosts.at(ic).longitudinal_cost
        //            << ", Change: " << trajectoryCosts.at(ic).lane_change_cost
        //            << ", Avg: " << trajectoryCosts.at(ic).cost
        //            << endl;
    }

    //  cout << "------------------------ " << endl;
}

std::vector<OP_TrajectoryCost> TrajectoryCosts::CalculatePriorityAndLaneChangeCosts(const std::vector<std::vector<WayPoint>> &laneRollOuts,
                                                                                 const int &lane_index, const PlanningParams &params)
{
    std::vector<OP_TrajectoryCost> costs;
    OP_TrajectoryCost tc;
    int centralIndex = params.rollOutNumber / 2;

    tc.lane_index = lane_index;
    for (unsigned int it = 0; it < laneRollOuts.size(); it++)
    {
        tc.index = it;
        tc.relative_index = it - centralIndex;
        tc.distance_from_center = params.rollOutDensity * tc.relative_index;
        tc.priority_cost = fabs(tc.distance_from_center);
        tc.closest_obj_distance = params.horizonDistance;
        tc.lane_change_cost = laneRollOuts.at(it).at(0).laneChangeCost;

        //    if(laneRollOuts.at(it).at(0).bDir == FORWARD_LEFT_DIR || laneRollOuts.at(it).at(0).bDir == FORWARD_RIGHT_DIR)
        //      tc.lane_change_cost = 1;
        //    else if(laneRollOuts.at(it).at(0).bDir == BACKWARD_DIR || laneRollOuts.at(it).at(0).bDir == BACKWARD_RIGHT_DIR || laneRollOuts.at(it).at(0).bDir == BACKWARD_LEFT_DIR)
        //      tc.lane_change_cost = 2;
        //    else
        //      tc.lane_change_cost = 0;

        costs.push_back(tc);
    }

    return costs;
}

void TrajectoryCosts::CalculateTransitionCosts(std::vector<OP_TrajectoryCost> &trajectoryCosts, const int &currTrajectoryIndex, const PlanningParams &params)
{
    for (int ic = 0; ic < trajectoryCosts.size(); ic++)
    {
        trajectoryCosts.at(ic).transition_cost = fabs(params.rollOutDensity * (ic - currTrajectoryIndex));
    }
}

/**
 * @brief Validate input, each trajectory must have at least 1 way point
 * @param rollOuts
 * @return true if data isvalid for cost calculation
 */
bool TrajectoryCosts::ValidateRollOutsInput(const std::vector<std::vector<std::vector<WayPoint>>> &rollOuts)
{
    if (rollOuts.size() == 0)
        return false;

    for (unsigned int il = 0; il < rollOuts.size(); il++)
    {
        if (rollOuts.at(il).size() == 0)
            return false;
    }

    return true;
}